An automatic charging system and charging method for AGV transport vehicles

Abstract

This invention belongs to the field of AGV (Automated Guided Vehicle), and particularly relates to an automatic charging system and charging method for AGV transport vehicles; it includes a control console, a circular path, multiple AGV transport vehicles arranged on the circular path, and at least one charging device arranged on one side of the circular path. Each AGV transport vehicle travels at intervals along the circular path, and each AGV transport vehicle interacts with the control console; the charging device also interacts with the control console; when any AGV transport vehicle detects that its own power level is lower than a first preset power level, the control console controls the AGV transport vehicle to travel along the circular path to the charging device for positioning and charging. The control console is used to detect in real time whether the AGV transport vehicle adjacent to the charging AGV transport vehicle meets the preset conditions. If so, the control console controls the first charging device to stop charging, and the first AGV transport vehicle travels forward along the circular path.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle), and more particularly to an automatic charging system and charging method for an AGV transport vehicle. Background Technology

[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle that travels along ground guidance devices (magnetic tape, ribbon, QR code, ground texture, reflector) or system map, and has safety protection and various transfer functions. In practical applications, each AGV transport vehicle needs to be equipped with an automatic charging system and charging method to replenish the power of each AGV transport vehicle during operation, so that each AGV can work continuously.

[0003] In a working environment where multiple AGV transport vehicles travel at intervals along a circular path, the existing automatic charging system and charging method usually connect a branch path to the circular path, and install a charging device on the branch path. When the remaining power of an AGV transport vehicle is too low, the AGV transport vehicle with low remaining power is controlled to drive into the aforementioned branch path (leave the circular path) for charging, so as not to affect the normal driving of the AGV transport vehicle behind the AGV transport vehicle on the circular path.

[0004] However, using the existing automatic charging system and charging method mentioned above will cause AGVs traveling on the circular path behind the charging AGV to overtake it, which will lead to a disorder in the order of materials transported by each AGV, reduce the feeding efficiency of the AGVs, and slow down the working rhythm of each AGV. Summary of the Invention

[0005] This invention provides an automatic charging system and method for AGV transport vehicles, solving the technical problem that in working environments where multiple AGV transport vehicles travel at intervals along a circular path, existing automatic charging systems and methods cause AGV transport vehicles traveling on the circular path behind a charging AGV transport vehicle to overtake it, resulting in disordered material transport sequence, reduced material delivery efficiency, and slower work cycle of each AGV transport vehicle.

[0006] The technical solution adopted in this invention is: an automatic charging system for AGV transport vehicles, characterized in that: it includes a control console, a circular path, multiple AGV transport vehicles arranged on the circular path, and at least one charging device arranged on one side of the circular path; each of the AGV transport vehicles travels at intervals along the circular path, and each of the AGV transport vehicles interacts with the control console; the charging device interacts with the control console.

[0007] When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the first AGV transport vehicle travels along the circular path to the charging device, stops in position, and then charges.

[0008] When the charging device is charging the first AGV transport vehicle, the control console detects in real time whether the AGV transport vehicle adjacent to the first AGV transport vehicle meets the preset conditions. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0009] The first AGV transport vehicle is any one of the AGV transport vehicles;

[0010] There are various ways to set the preset conditions, including but not limited to:

[0011] Option 1: The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance.

[0012] Option 2: The preset condition is that the remaining time for the AGV transport vehicle adjacent to the first AGV transport vehicle to reach the charging device that charges the first AGV transport vehicle is less than the preset time.

[0013] By placing the charging device on one side of the circular path, the first AGV can stop on the circular path for charging. When the control console detects in real time that the preset conditions are met between the first AGV and the adjacent AGV behind it, the control console controls the charging device to stop charging the first AGV, and then the first AGV moves forward along the circular path. This ensures that the charging process of the first AGV does not affect the normal driving of the adjacent AGV behind it, and the driving sequence of each AGV is not disrupted. Consequently, the order of materials transported by the AGVs is not disordered. This solves the technical problem that in a working environment where multiple AGVs travel at intervals along a circular path, existing automatic charging systems and methods can cause AGVs traveling on the circular path behind a charging AGV to overtake it, resulting in disordered material transport, reduced AGV delivery efficiency, and slower working rhythm.

[0014] Meanwhile, in a working environment where multiple AGV transport vehicles travel at intervals along a circular path, the automatic charging system for AGV transport vehicles provided by this invention, compared with existing automatic charging systems, eliminates the need for additional branch paths, reducing the initial investment cost of the transport route and saving the overall layout area of ​​the work area.

[0015] Furthermore, multiple charging devices are spaced apart along the circular path and are all located on one side of the circular path; when the first AGV transport vehicle detects that its own power is lower than the first preset power, the first AGV transport vehicle travels along the circular path to the first charging device, stops in position, and then charges. The first charging device is the charging device that is closest to the first AGV transport vehicle on the circular path.

[0016] Furthermore, each of the AGV transport vehicles is equipped with a first controller for controlling the operation of the AGV transport vehicle; the charging device is equipped with a second controller for controlling the charging device, and both the first controller and the second controller interact with the console.

[0017] Furthermore, the AGV transport vehicle is provided with a first optical data transmission device on the side facing the charging device, and the first optical data transmission device is electrically connected to the first controller provided on the AGV transport vehicle.

[0018] The charging device is equipped with a second optical data transmission device that matches the first optical data transmission device. The second optical data transmission device is electrically connected to a second controller on the charging device. The first controller controls the first AGV transport vehicle to align with the charging device through the first optical data transmission device and the second optical data transmission device. Both the first controller and the second controller interact with the control console.

[0019] The first optical data transmission device and the second optical data transmission device are used for the alignment of the first AGV transport vehicle with the charging device, and the first optical data transmission device and the second optical data transmission device are also used for the communication connection between the first controller and the second controller.

[0020] Furthermore, the charging device includes a telescopic probe and a charger. The telescopic probe is electrically connected to a second controller mounted on the charging device. The telescopic probe is electrically connected to the charger via a relay. The second controller is electrically connected to the relay.

[0021] The AGV transport vehicle has an electrode plate on the side facing the charging device, and the telescopic probe is positioned corresponding to the electrode plate.

[0022] The second controller is used to control the relay to turn on or off; the second controller is also used to control the extension of the telescopic probe so that the telescopic probe abuts against the electrode plate.

[0023] Furthermore, the telescopic probe includes a fixed base, a first linear cylinder fixedly mounted on the fixed base, a base plate fixedly connected to the telescopic end of the first linear cylinder, two probe units mounted on the base plate, and at least one set of guide mechanisms disposed between the base plate and the fixed base;

[0024] The first linear cylinder is used to push the base plate and the two probe units to extend along the first horizontal direction, so that the two probe units abut against the electrode plate;

[0025] The guiding mechanism is used to guide the base plate to reciprocate linearly along the first horizontal direction;

[0026] The first linear cylinder is equipped with a first position sensor, which is used to send first position information indicating the extension and retraction position of the first linear cylinder to the second controller.

[0027] By setting the guiding mechanism, the reciprocating motion of the base plate and the two probe units on the base plate driven by the first linear cylinder along the first horizontal direction can be made more stable.

[0028] The first position sensor sends first position information, representing the position of the first linear cylinder, to the second controller. This allows the second controller to determine the position of the first linear cylinder based on the first position information. Consequently, the controller determines whether the probe unit should extend to the end furthest from the first linear cylinder to abut against the electrode plate, or retract to a preset position. This ensures that the extension or retraction of the telescopic probe coordinates with the movement of the AGV transport vehicle, preventing the telescopic probe from colliding with the moving AGV transport vehicle.

[0029] Furthermore, the first linear cylinder is arranged along the first horizontal direction, the base plate is arranged perpendicular to the first horizontal direction, the side of the base plate near the first linear cylinder is fixedly connected to the telescopic end of the first linear cylinder, both probe units are arranged along the first horizontal direction, and the end of the probe unit away from the first linear cylinder extends out of the side of the base plate away from the first linear cylinder and is used to abut against the electrode plate.

[0030] The probe unit includes a mounting plate, an insulating block, a compression spring, a charging contact, and a telescopic rod assembly;

[0031] The telescopic rod assembly is capable of telescopic extension and retraction along the first horizontal direction. The end of the telescopic rod assembly near the first linear cylinder is set as a fixed end, and the fixed end of the telescopic rod assembly is fixedly connected to the base plate.

[0032] The end of the telescopic rod assembly away from the first linear cylinder is designated as the telescopic end. The telescopic end of the telescopic rod assembly is hinged to one side of the mounting plate, allowing the mounting plate to rotate in a horizontal plane about its hinge point with the telescopic rod assembly.

[0033] The compression spring is sleeved outside the telescopic rod assembly. The first end of the compression spring abuts against the side of the base plate away from the first linear cylinder. The second end of the compression spring is used to push the mounting plate along the first horizontal direction so that the mounting plate remains perpendicular to the first horizontal direction without other external forces.

[0034] The other side of the mounting plate is fixedly connected to the bottom end of the insulating block, the top end of the insulating block is fixedly connected to the bottom end of the charging contact, the side of the charging contact is used for electrical connection with the charger, and the top surface of the charging contact is used for abutting against the electrode plate; the top surface of the charging contact is parallel to the mounting plate.

[0035] By enabling the telescopic rod assembly to extend and retract along the first horizontal direction, with its telescopic end hinged to one side of the mounting plate, the mounting plate can rotate in a horizontal plane about its hinge point with the telescopic rod assembly. The compression spring keeps the mounting plate perpendicular to the first horizontal direction without external force. After the first AGV transport vehicle completes its alignment and parking, if the electrode plate of the first AGV transport vehicle deflects horizontally, causing the electrode plate to fail to remain perpendicular to the first horizontal direction (this is usually due to the first AGV transport vehicle completing...), The failure to accurately stop in the horizontal direction perpendicular to the first horizontal direction is caused by control errors during alignment; or by loosening of the fixed connection between the electrode plate of the first AGV and the first AGV. In this case, the top surface of the charging contact can rotate in the horizontal plane around the hinge point between the mounting plate and the telescopic rod to adapt to the deflection of the electrode plate of the first AGV. At the same time, due to the thrust of the compression spring on the mounting plate, the top surface of the charging contact can be tightly attached to the electrode plate, ensuring the contact area between the top surface of the charging contact and the electrode plate.

[0036] Furthermore, the telescopic rod assembly includes a bushing and an optical shaft sleeved within the bushing; the optical shaft is arranged along the first horizontal direction, and the outer peripheral surface of the optical shaft engages with the inner hole of the bushing, so that the optical shaft can slide linearly back and forth along the first horizontal direction under the guidance of the bushing;

[0037] Two through holes are formed on the base plate along the first horizontal direction. Each through hole is fitted with a corresponding bushing, and the bushings are fixedly connected to the corresponding through hole (the bushing is also the fixed end of the telescopic rod assembly).

[0038] Both ends of the optical axis extend outside the bushing. The end of the optical axis away from the first linear cylinder (that is, the telescopic end of the telescopic rod assembly) is hinged to one side of the mounting plate. A limit structure is provided on the end of the optical axis near the first linear cylinder. The limit structure is used to abut against the end of the bushing near the first linear cylinder.

[0039] Furthermore, a hinge seat is fixedly connected to one side of the mounting plate. The hinge seat includes two horizontally arranged side plates, which are arranged opposite each other. The ends of the two side plates facing the mounting plate are fixedly connected to the mounting plate. The ends of the two side plates away from the mounting plate are provided with a contact surface. The two contact surfaces are parallel to the mounting plate and are in the same plane.

[0040] The end of the optical axis away from the first linear cylinder is hinged between the two side plates via a rotating shaft. The probe unit also includes a push plate sleeved on the optical axis. The push plate is annular, and the inner hole of the push plate matches the outer circumferential surface of the optical axis, so that the push plate can slide linearly back and forth along the first horizontal direction on the optical axis. The second end of the compression spring abuts against one end of the push plate, so that the other end of the push plate abuts against the two mating surfaces.

[0041] Furthermore, the guiding mechanism includes a guide rod, a linear bearing, and a bearing housing;

[0042] The guide rod is arranged along the first horizontal direction. One end of the guide rod is fixedly connected to the side of the base plate near the first linear cylinder. The inner hole of the linear bearing is sleeved on the outer circumferential surface of the guide rod, so that the guide rod can slide linearly back and forth along the first horizontal direction under the guidance of the linear bearing. The bearing seat is fixedly connected to the fixed base, and the outer circumferential surface of the linear bearing is fixedly connected to the bearing seat.

[0043] One end of the guide rod away from the base plate extends beyond the other end of the linear bearing away from the base plate. A limiting block is fixedly connected to the outer circumferential surface of the portion of the guide rod extending beyond the other end of the linear bearing away from the base plate. The limiting block is used to limit the travel of the guide rod in a linear reciprocating motion along the first horizontal direction by engaging with the other end of the linear bearing away from the base plate.

[0044] Furthermore, each of the aforementioned AGV transport vehicles is equipped with a material cart;

[0045] The charging device also includes a stopper disposed on one side of the circular path, the stopper extending in front of the material cart to restrict the forward sliding of the material cart when the AGV transport vehicle is aligned with the charging device.

[0046] The material cart includes a detachable material frame fixedly connected to the AGV transport vehicle and two front support legs and two rear support legs fixedly connected to the bottom of the material frame; the two front support legs are symmetrically arranged on the front side of the bottom of the material frame, and the two rear support legs are symmetrically arranged on the rear side of the bottom of the material frame.

[0047] The two front outriggers are respectively placed on the left and right sides of the AGV transport vehicle, and the two rear outriggers are respectively placed on the left and right sides of the AGV transport vehicle, with the electrode plate located between the front outriggers and the rear outriggers on the same side.

[0048] By setting the stopper so that it extends in front of the material cart, the material cart is restricted from sliding forward due to inertia when the AGV transport vehicle is aligned with the charging device. This prevents the material cart from sliding forward due to inertia when the AGV transport vehicle and the charging device are aligned (usually due to the absence of a limiting component between the AGV transport vehicle and the material cart, or the failure of the limiting component between the AGV transport vehicle and the material cart), causing the rear support leg on the same side as the electrode plate of the AGV transport vehicle to move forward and collide with the telescopic probe extended from the charging device.

[0049] Furthermore, the blocker includes a base fixed to one side of the annular path and a second linear cylinder and a blocking element mounted on the base;

[0050] The fixed end of the second linear cylinder is hinged to the base, and the middle part of the blocking member is hinged to the base, so that both the second linear cylinder and the blocking member can rotate in a horizontal plane about the hinge point between them and the base.

[0051] The second controller is also used for the extension and retraction of the second linear cylinder;

[0052] The extension and retraction end of the second linear cylinder is hinged to the first end of the blocking member, so that the second controller can push the blocking member to rotate in a horizontal plane about its hinge point with the base by controlling the extension and retraction of the second linear cylinder, so as to extend the tail end of the blocking member to the front of the material cart.

[0053] The blocker is equipped with a second position sensor, which is used to send second position information indicating the position of the blocker to the second controller.

[0054] According to the automatic charging system for the AGV transport vehicle provided by the present invention, the present invention also provides an automatic charging method for the AGV transport vehicle, comprising:

[0055] When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the control console controls the first AGV transport vehicle to travel along the circular path to the charging device, park and charge.

[0056] During the charging process of the charging device for the first AGV transport vehicle, the control console detects in real time whether the preset conditions are met between the first AGV transport vehicle and the adjacent AGV transport vehicle behind it. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0057] The first AGV transport vehicle is any one of the AGV transport vehicles;

[0058] There are various ways to set the preset conditions, including but not limited to:

[0059] Option 1: The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance.

[0060] Option 2: The preset condition is that the remaining time for the AGV transport vehicle adjacent to the first AGV transport vehicle to reach the charging device that charges the first AGV transport vehicle is less than the preset time.

[0061] That is, the preset conditions include: the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance, or the preset condition is that the remaining time for the adjacent AGV transport vehicle to reach the charging device that charges the first AGV transport vehicle is less than a preset time.

[0062] Furthermore, the preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance.

[0063] Furthermore, the method by which the console controls the first AGV transport vehicle to travel along the circular path to the charging device includes the following steps:

[0064] S1: The first controller of each AGV transport vehicle sends third position information to the control console in real time, and the control console obtains the position of each AGV transport vehicle on the circular path based on the third position information;

[0065] S2: When the first AGV transport vehicle detects that its own power is lower than the first preset power, the first controller of the first AGV transport vehicle sends a charging request information to the control console;

[0066] S3: The console obtains the position of the first charging device based on the received charging request information and the third position information, and sends navigation information to the first controller of the first AGV transport vehicle based on the position of the first charging device. The first charging device is the charging device that is closest to the first AGV transport vehicle on the circular path.

[0067] S4: The first controller of the first AGV transport vehicle controls the first AGV transport vehicle to travel along the circular path to the first charging device according to the received navigation information.

[0068] Furthermore, the method for aligning and parking includes:

[0069] After the first AGV transport vehicle travels along the circular path to the charging device, the first controller of the first AGV transport vehicle sends a positioning request information to the control console.

[0070] The console sends alignment start information to the second controller of the charging device based on the received alignment request information;

[0071] After receiving the alignment start information, the second controller of the charging device controls the second optical data transmission device of the charging device to send the alignment implementation information to the first optical data transmission device of the first AGV transport vehicle.

[0072] The first optical data transmission device receives the alignment implementation information and transmits it to the first controller. The first controller controls the first AGV transport vehicle to complete the alignment with the charging device according to the alignment implementation information.

[0073] After the first AGV transport vehicle completes alignment with the charging device, the first controller sends alignment completion information to the second controller through the first optical data transmission device and the second optical data transmission device, thus completing the alignment and parking.

[0074] Furthermore, after the first AGV transport vehicle travels along the circular path to the charging device and stops in position, the second controller of the charging device controls the extension probe of the charging device to extend.

[0075] The first position sensor on the first linear cylinder of the telescopic probe sends first position information to the second controller;

[0076] The second controller determines whether the telescopic probe of the charging device is in contact with the electrode plate of the first AGV transport vehicle based on the received first position information; if so, the second controller controls the relay of the charging device to connect the charger of the charging device and the telescopic probe.

[0077] The charger charges the first AGV transport vehicle.

[0078] Furthermore, if the preset conditions are met, the control console sends a charging stop information to the second controller of the charging device. After the second controller controls the charging device to stop charging based on the received charging stop information, the first AGV transport vehicle moves forward along the circular path. Otherwise, when the first AGV transport vehicle detects that its own power is not less than the second preset power, the first controller of the first AGV transport vehicle sends a charging completion information to the second controller of the charging device through the first optical data transmission device installed on the first AGV transport vehicle and the second optical data transmission device installed on the charging device. After the second controller controls the charging device to stop charging based on the received charging completion information, the first AGV transport vehicle moves forward along the circular path.

[0079] The second preset power level is greater than the first preset power level, and the second preset power level is not greater than the maximum power level suitable for fast charging of the AGV transport vehicle.

[0080] Through the above technical solution, it can be ensured that during the charging process of the first AGV transport vehicle, the battery level of the first AGV transport vehicle never exceeds its maximum suitable fast charging capacity. This allows the charging device to maintain fast charging mode throughout the charging process of the first AGV transport vehicle, thereby preventing the charging device from entering trickle charging mode due to the battery level of the first AGV transport vehicle exceeding its maximum suitable fast charging capacity. This reduces the charge-discharge ratio of the batteries of each AGV transport vehicle running on the circular path. Furthermore, without affecting the normal operation of the AGV transport vehicles adjacent to the first AGV transport vehicle and without disrupting the driving sequence of the AGV transport vehicles, the charging efficiency of each AGV transport vehicle running on the circular path is improved.

[0081] In another technical solution, if the preset conditions are met, the control console sends a charging stop information to the second controller of the charging device. After the second controller controls the charging device to stop charging according to the received charging stop information, the first AGV transport vehicle moves forward along the circular path; otherwise, after the charging time of the charging device for the first AGV transport vehicle reaches the preset charging time, the second controller controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0082] The preset charging time is the average time it takes for the charging device to charge the AGV transport vehicle from the first preset charge to the third preset charge; the third preset charge is greater than the first preset charge, and the third preset charge is not greater than the maximum charge that the AGV transport vehicle is suitable for fast charging.

[0083] Through the above technical solution, it can be ensured that during the charging process of the first AGV transport vehicle, the power of the first AGV transport vehicle never exceeds its maximum suitable fast charging power. This allows the charging device to maintain the charging process of the first AGV transport vehicle in fast charging mode throughout, thereby avoiding the charging device from entering trickle charging mode when the power of the first AGV transport vehicle exceeds its maximum suitable fast charging power. This reduces the charge-discharge ratio of the batteries of each AGV transport vehicle running on the circular path. Under the premise of not affecting the normal driving of the AGV transport vehicles adjacent to the first AGV transport vehicle and not disrupting the driving order of each AGV transport vehicle, the charging efficiency of each AGV transport vehicle running on the circular path is improved.

[0084] Meanwhile, by keeping the charging process of each AGV transport vehicle in fast charging mode throughout, the charging and discharging ratio of each AGV transport vehicle can be kept consistent. This can be achieved by setting the preset charging time to be less than the interval time between two adjacent AGV transport vehicles (i.e., the running cycle time of each AGV transport vehicle), thus keeping the running cycle time of each AGV transport vehicle constant.

[0085] Furthermore, the method by which the second controller controls the charging device to stop charging includes the following steps:

[0086] S1: The second controller controls the relay to disconnect the electrical connection between the charger and the telescopic probe, and the second controller controls the telescopic probe to retract;

[0087] S2: The first position sensor sends the first position information to the second controller;

[0088] S3: The second controller determines whether the telescopic probe of the charging device has retracted to a preset position based on the received first position information; if so, proceed to step S4.

[0089] S4: The second controller sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device installed on the charging device and the first optical data transmission device installed on the first AGV transport vehicle;

[0090] S5: The first controller controls the first AGV transport vehicle to move forward along the circular path according to the received passage information.

[0091] After the second controller of the charging device determines that the telescopic probe of the charging device has retracted to a preset position based on the received first position information, the second controller of the charging device sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device of the charging device and the first optical data transmission device of the first AGV transport vehicle; before the first AGV transport vehicle leaves the charging device, the second controller of the charging device has confirmed that the telescopic probe of the charging device has retracted to the preset position, ensuring that the first AGV transport vehicle will not collide with the telescopic probe of the charging device when it leaves the charging device.

[0092] Furthermore, during the process of the console controlling the first AGV transport vehicle to travel along the circular path to the charging device, the console detects the position information of the first AGV transport vehicle, the charging device, and the AGV transport vehicle adjacent to the first AGV transport vehicle in front of it in real time; if it is determined based on the detected position information that the distance between the first AGV transport vehicle and the charging device is less than a second preset distance, and the AGV transport vehicle adjacent to the first AGV transport vehicle has already traveled to the front of the charging device, then the console sends obstruction information to the second controller of the charging device;

[0093] The second controller, based on the received obstruction information, controls the obstructor of the charging device to extend in front of the material cart being transported on the first AGV transport vehicle;

[0094] In step S1, the second controller also controls the blocker to retract;

[0095] In step S2, the second position sensor on the blocker sends second position information to the second controller;

[0096] In step S3, the second controller further determines, based on the received second position information, whether the blocker has retracted to the side of the material cart being transported on the first AGV transport vehicle; if it is determined that the telescopic probe of the charging device has retracted to the preset position and the blocker has retracted to the side of the material cart being transported on the first AGV transport vehicle, then proceed to step S4.

[0097] By ensuring that the remaining distance of the first AGV transport vehicle to the charging device is less than a second preset distance, and when the AGV transport vehicle adjacent to the first AGV transport vehicle on the circular path has already traveled to the front of the charging device, the blocking device of the charging device extends to the front of the material car transported on the first AGV transport vehicle. This prevents the blocking device of the charging device from colliding with the AGV transport vehicle adjacent to the first AGV transport vehicle on the circular path, and also ensures that the blocking device of the charging device can block the front of the material car transported on the first AGV transport vehicle when the first AGV transport vehicle travels to the charging device.

[0098] By having the second controller of the charging device determine, based on the received first and second position information, that the telescopic probe of the charging device has retracted to the preset position and the blocker has retracted to the side of the material cart being transported on the first AGV, the second controller of the charging device sends passage information to the first controller of the first AGV through the second optical data transmission device of the charging device and the first optical data transmission device of the first AGV. Before the first AGV leaves the charging device, the second controller of the charging device has confirmed that the telescopic probe of the charging device has retracted to the preset position and the blocker has retracted to the side of the material cart being transported on the first AGV. This ensures that when the first AGV leaves the charging device, the first AGV will not collide with the telescopic probe of the charging device, and the material cart being transported on the first AGV will not collide with the blocker of the charging device. Attached Figure Description

[0099] Figure 1 This is a top view showing the alignment of the AGV transport vehicle and the charging device in Example 1;

[0100] Figure 2 This is a three-dimensional structural diagram of the telescopic probe in Example 1;

[0101] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0102] Figure 4 This is a three-dimensional structural diagram of the probe unit located on the side of the base plate away from the first linear cylinder in Embodiment 1;

[0103] Figure 5 This is a top view of the structure of the blocker in Example 1. Figure 1 ;

[0104] Figure 6 This is a top view of the structure of the blocker in Example 1. Figure 2 ;

[0105] Figure 7 This is a three-dimensional structural diagram of the electrode plate in Example 1;

[0106] Among them, 1—AGV transport vehicle, 2—material car, 3—electrode plate, 4—first optical data transmission device, 5—second controller, 6—telescopic probe, 7—charger, 8—second optical data transmission device, 9—blocker;

[0107] 31—Insulating plate; 32—Electrode sheet;

[0108] 61—Fixed seat, 62—First linear cylinder, 63—Base plate, 64—Probe unit, 65—Guide rod, 66—Linear bearing, 67—Bearing seat, 68—Limit block;

[0109] 641—Mounting plate, 642—Insulating block, 643—Compression spring, 644—Charging contact, 645—Holder sleeve, 646—Optical axis, 647—Limiting structure, 648—Hinge seat, 649—Push plate;

[0110] 91—Base, 92—Second linear cylinder, 93—Blocking component, 94—Blocking rod, 95—Second position sensor. Detailed Implementation

[0111] The technical solutions of the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings:

[0112] Example 1

[0113] This embodiment 1 provides an automatic charging system for AGV transport vehicles, characterized in that: it includes a control console, a circular path, multiple AGV transport vehicles 1 arranged on the circular path, and at least one charging device arranged on one side of the circular path. Each AGV transport vehicle 1 travels at intervals along the circular path, and each AGV transport vehicle 1 interacts with the control console; the charging device interacts with the control console.

[0114] When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the first AGV transport vehicle travels along the circular path to the charging device, stops in position, and then charges.

[0115] When the charging device is charging the first AGV transport vehicle, the control console detects in real time whether the preset conditions are met between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind it. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0116] Among them, the first AGV transport vehicle is any one of the AGV transport vehicles 1;

[0117] There are various ways to set the preset conditions, including but not limited to:

[0118] Option 1: The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind the first AGV transport vehicle on the circular path is less than the first preset distance.

[0119] Option 2: The preset condition is that the remaining time for the AGV transport vehicle 1 adjacent to the first AGV transport vehicle to reach the charging device that charges the first AGV transport vehicle is less than the preset time.

[0120] By placing the charging device on one side of the circular path, the first AGV can stop on the circular path for charging. When the control console detects in real time that the first AGV meets the preset conditions between itself and the adjacent AGV behind it, the control console stops the charging device from charging the first AGV, and the first AGV then moves forward along the circular path. This ensures that the charging process of the first AGV does not affect the normal movement of the adjacent AGV behind it, and the driving sequence of each AGV is not disrupted. Consequently, the order of materials transported by each AGV is not disordered. This solves the technical problem that in a working environment where multiple AGVs travel at intervals along a circular path, existing automatic charging systems and methods can cause AGVs behind a charging AGV to overtake it, leading to disordered material transport, reduced feeding efficiency, and slower work rhythm.

[0121] Meanwhile, in a working environment where multiple AGV transport vehicles 1 travel at intervals along a circular path, the automatic charging system for AGV transport vehicles provided by this invention, compared with the existing supporting automatic charging system, does not require additional branch paths, reducing the initial investment cost of the transport route and saving the overall layout area of ​​the working area.

[0122] In this embodiment 1, each AGV transport vehicle 1 is wirelessly connected to the control console; the charging device is electrically connected to the control console.

[0123] Since each AGV transport vehicle 1 needs to move, the interaction between each AGV transport vehicle 1 and the control console is set to wireless communication connection, and the interaction between the charging device and the control console is set to electrical connection (i.e. wired connection, signal line connection). Compared with the wireless communication connection, the interaction is more reliable, making it less likely for information exchange between the charging device and the control console to be delayed or erroneous.

[0124] In this embodiment 1, when multiple charging devices are spaced apart along a circular path and are all located on one side of the circular path, when the first AGV transport vehicle detects that its own power is lower than the first preset power, the first AGV transport vehicle travels along the circular path to the first charging device, stops in position, and charges. The first charging device is the nearest charging device to the first AGV transport vehicle on the circular path.

[0125] In this embodiment 1, each AGV transport vehicle 1 is equipped with a first controller for controlling the operation of the AGV transport vehicle 1; the charging device is equipped with a second controller 5 for controlling the charging device, and both the first controller and the second controller 5 interact with the control console.

[0126] In this embodiment 1, as Figure 1 As shown, a first optical data transmission device 4 is provided on the side of the AGV transport vehicle 1 facing the charging device, and the first optical data transmission device 4 is electrically connected to the first controller provided on the AGV transport vehicle 1.

[0127] The charging device is equipped with a second optical data transmission device 8 that matches the first optical data transmission device 4. The second optical data transmission device 8 is electrically connected to the second controller 5 on the charging device. The first controller controls the first AGV transport vehicle to complete the alignment with the charging device through the first optical data transmission device 4 and the second optical data transmission device 8. Both the first controller and the second controller 5 interact with the control console.

[0128] The first optical data transmission device 4 and the second optical data transmission device 8 are used for the alignment of the first AGV transport vehicle with the charging device. The first optical data transmission device 4 and the second optical data transmission device 8 are also used for the communication connection between the first controller and the second controller 5.

[0129] In this embodiment 1, as Figure 1 As shown, the charging device includes a telescopic probe 6 and a charger 7. The telescopic probe 6 is electrically connected to a second controller 5 installed on the charging device. The telescopic probe 6 is electrically connected to the charger 7 through a relay. The second controller 5 is electrically connected to the relay.

[0130] An electrode plate 3 is provided on the side of the AGV transport vehicle 1 facing the charging device, and the position of the telescopic probe 6 corresponds to the position of the electrode plate 3.

[0131] The second controller 5 is used to control the relay to turn on or off; the second controller 5 is also used to control the extension of the telescopic probe 6 so that the telescopic probe 6 abuts against the electrode plate 3.

[0132] In this embodiment 1, as Figure 1 and Figure 2 As shown, the telescopic probe 6 includes a fixed base 61, a first linear cylinder 62 fixedly mounted on the fixed base 61, a base plate 63 fixedly connected to the telescopic end of the first linear cylinder 62, two probe units 64 mounted on the base plate 63, and at least one set of guide mechanisms disposed between the base plate 63 and the fixed base 61.

[0133] The first linear cylinder 62 is used to push the base plate 63 and the two probe units 64 to extend along the first horizontal direction, so that the two probe units 64 abut against the electrode plate 3.

[0134] The guiding mechanism is used to guide the base plate 63 to reciprocate linearly along the first horizontal direction;

[0135] A first position sensor is provided on the first linear cylinder 62. The first position sensor is used to send first position information indicating the extension and retraction position of the first linear cylinder 62 to the second controller 5.

[0136] By setting a guiding mechanism, the first linear cylinder 62 can drive the base plate 63 and the two probe units 64 on the base plate 63 to move linearly back and forth in the first horizontal direction more smoothly.

[0137] The first position sensor sends first position information, representing the position of the first linear cylinder 62, to the second controller 5. The second controller 5 can then determine the position of the first linear cylinder 62 based on the first position information. This allows it to determine whether the probe unit 64 should extend to the end furthest from the first linear cylinder 62 and abut against the electrode plate 3, or retract to a preset position. This ensures that the extension or retraction of the telescopic probe 6 can coordinate with the movement of the AGV transport vehicle 1, preventing the telescopic probe 6 from colliding with the moving AGV transport vehicle 1.

[0138] In this embodiment 1, as Figure 2 , Figure 3 and Figure 4 As shown, the first linear cylinder 62 is arranged along the first horizontal direction, and the base plate 63 is arranged perpendicular to the first horizontal direction. The side of the base plate 63 near the first linear cylinder 62 is fixedly connected to the telescopic end of the first linear cylinder 62. Both probe units 64 are arranged along the first horizontal direction. The end of the probe unit 64 away from the first linear cylinder 62 extends out of the side of the base plate 63 away from the first linear cylinder 62 and is used to abut against the electrode plate 3.

[0139] The probe unit 64 includes a mounting plate 641, an insulating block 642, a compression spring 643, a charging contact 644, and a telescopic rod assembly;

[0140] The telescopic rod assembly can extend and retract along the first horizontal direction. The end of the telescopic rod assembly near the first linear cylinder 62 is set as a fixed end, and the fixed end of the telescopic rod assembly is fixedly connected to the base plate 63.

[0141] The end of the telescopic rod assembly away from the first linear cylinder 62 is set as the telescopic end. The telescopic end of the telescopic rod assembly is hinged to one side of the mounting plate 641, so that the mounting plate 641 can rotate in the horizontal plane about the hinge point between it and the telescopic rod assembly.

[0142] Compression spring 643 is sleeved on the outside of telescopic rod assembly. The first end of compression spring 643 abuts against the side of base plate 63 away from the first linear cylinder 62. The second end of compression spring 643 is used to push mounting plate 641 along the first horizontal direction so that mounting plate 641 remains perpendicular to the first horizontal direction without other external forces.

[0143] The other side of the mounting plate 641 is fixedly connected to the bottom end of the insulating block 642, the top end of the insulating block 642 is fixedly connected to the bottom end of the charging contact 644, the side of the charging contact 644 is used for electrical connection with the charger 7, and the top surface of the charging contact 644 is used for abutting against the electrode plate 3; the top surface of the charging contact 644 is parallel to the mounting plate 641.

[0144] By enabling the telescopic rod assembly to extend and retract along the first horizontal direction, and with its telescopic end hinged to one side of the mounting plate 641, the mounting plate 641 can rotate in the horizontal plane around its hinge point with the telescopic rod assembly. A compression spring 643 keeps the mounting plate 641 perpendicular to the first horizontal direction without external force. This prevents the first AGV transport vehicle from deflecting horizontally after alignment and parking, thus ensuring the electrode plate 3 remains perpendicular to the first horizontal direction (this is usually due to control issues during alignment). If the error is caused by the control error and the vehicle fails to stop accurately in the horizontal direction perpendicular to the first horizontal direction; or if the fixed connection between the electrode plate 3 of the first AGV transport vehicle and the first AGV transport vehicle is loose, then the top surface of the charging contact 644 can rotate in the horizontal plane around the hinge point between the mounting plate 641 and the telescopic rod to adapt to the deflection of the electrode plate 3 of the first AGV transport vehicle. At the same time, due to the thrust of the compression spring 643 on the mounting plate 641, the top surface of the charging contact 644 can be tightly attached to the electrode plate 3, ensuring the contact area between the top surface of the charging contact 644 and the electrode plate 3.

[0145] Among them, such as Figure 3and Figure 4 As shown, the telescopic rod assembly includes a bushing 645 and an optical shaft 646 sleeved inside the bushing 645; the optical shaft 646 is arranged along a first horizontal direction, and the outer peripheral surface of the optical shaft 646 is engaged with the inner hole of the bushing 645, so that the optical shaft 646 can slide linearly back and forth along the first horizontal direction under the guidance of the bushing 645.

[0146] Two through holes are opened on the base plate 63 along the first horizontal direction. A bushing 645 is fitted into each through hole, and the bushing 645 is fixedly connected to the corresponding through hole (the bushing 645 is also the fixed end of the telescopic rod assembly).

[0147] Both ends of the optical axis 646 extend out of the bushing 645. The end of the optical axis 646 away from the first linear cylinder 62 (that is, the telescopic end of the telescopic rod assembly) is hinged to one side of the mounting plate 641. A limiting structure 647 is provided on the end of the optical axis 646 near the first linear cylinder 62. The limiting structure 647 is used to abut against the end of the bushing 645 near the first linear cylinder 62.

[0148] Among them, such as Figure 3 and Figure 4 As shown, a hinge seat 648 is fixedly connected to one side of the mounting plate 641. The hinge seat 648 includes two horizontally arranged side plates. The two side plates are arranged opposite each other, and the ends of the two side plates facing the mounting plate 641 are fixedly connected to the mounting plate 641. The ends of the two side plates away from the mounting plate 641 are provided with a mating surface. The two mating surfaces are parallel to the mounting plate 641 and are in the same plane.

[0149] The end of the optical axis 646 away from the first linear cylinder 62 is hinged between the two side plates via a rotating shaft. The probe unit 64 also includes a push plate 649 sleeved on the optical axis 646. The push plate 649 is annular, and the inner hole of the push plate 649 matches the outer peripheral surface of the optical axis 646, so that the push plate 649 can slide linearly back and forth on the optical axis 646 in the first horizontal direction. The second end of the compression spring 643 abuts against one end of the push plate 649, so that the other end of the push plate 649 abuts against the two mating surfaces.

[0150] Among them, such as Figure 2 As shown, the guiding mechanism includes a guide rod 65, a linear bearing 66, and a bearing housing 67;

[0151] The guide rod 65 is set along the first horizontal direction. One end of the guide rod 65 is fixedly connected to the side of the base plate 63 near the first linear cylinder 62. The inner hole of the linear bearing 66 is sleeved on the outer peripheral surface of the guide rod 65, so that the guide rod 65 can slide linearly back and forth along the first horizontal direction under the guidance of the linear bearing 66. The bearing seat 67 is fixedly connected to the fixed seat 61, and the outer peripheral surface of the linear bearing 66 is fixedly connected to the bearing seat 67.

[0152] One end of the guide rod 65 away from the base plate 63 extends out of the other end of the linear bearing 66 away from the base plate 63. A limiting block 68 is fixedly connected to the outer circumferential surface of the portion of the guide rod 65 that extends out of the other end of the linear bearing 66 away from the base plate 63. The limiting block 68 is used to limit the travel of the guide rod 65 in a linear reciprocating motion along the first horizontal direction.

[0153] In this embodiment 1, as Figure 1 As shown, each AGV transport vehicle 1 is equipped with a material cart 2;

[0154] The charging device also includes a stopper 9 disposed on one side of the circular path. The stopper 9 extends to the front of the material cart 2 to restrict the forward sliding of the material cart 2 when the AGV transport vehicle 1 is aligned with the charging device.

[0155] The material cart 2 includes a detachable material frame fixedly connected to the AGV transport vehicle 1 and two front support legs and two rear support legs fixedly connected to the bottom of the material frame; the two front support legs are symmetrically arranged on the front side of the bottom of the material frame, and the two rear support legs are symmetrically arranged on the rear side of the bottom of the material frame.

[0156] The two front outriggers are placed on the left and right sides of the AGV transport vehicle, respectively, and the two rear outriggers are placed on the left and right sides of the AGV transport vehicle, respectively, with the electrode plate 3 located between the front and rear outriggers on the same side.

[0157] By setting a stopper 9, which extends to the front of the material cart 2, the stopper 9 restricts the material cart 2 from sliding forward due to inertia when the AGV transport vehicle 1 is aligned with the charging device. This prevents the material cart 2 from sliding forward due to inertia when the AGV transport vehicle 1 and the charging device are aligned (usually due to the absence of a limiting component between the AGV transport vehicle 1 and the material cart 2, or the failure of the limiting component between the AGV transport vehicle 1 and the material cart 2). This would cause the rear support leg of the material cart 2 on the same side as the electrode plate 3 of the AGV transport vehicle 1 to move forward and collide with the telescopic probe 6 extended from the charging device.

[0158] like Figure 5 and Figure 6 As shown, in this embodiment 1, the blocker 9 includes a base 91 fixed to one side of the annular path and a second linear cylinder 92 and a blocking member 93 mounted on the base 91.

[0159] The fixed end of the second linear cylinder 92 is hinged to the base 91, and the middle part of the blocking member 93 is hinged to the base 91, so that both the second linear cylinder 92 and the blocking member 93 can rotate in the horizontal plane around the hinge point between them and the base 91.

[0160] The second controller 5 is also used for the extension and retraction of the second linear cylinder 92;

[0161] The extension end of the second linear cylinder 92 is hinged to the head end of the blocking member 93, so that the second controller 5 can control the extension and retraction of the second linear cylinder 92 to push the blocking member 93 to rotate in the horizontal plane around the hinge point between it and the base 91, so as to extend the tail end of the blocking member 93 to the front of the material cart 2.

[0162] The blocker 9 is provided with a second position sensor 95, which is used to send second position information indicating the position of the blocker 93 to the second controller 5.

[0163] In this embodiment 1, a blocking rod 94 is fixedly connected to the tail end of the blocking member 93. The telescopic end of the second linear cylinder 92 is hinged to the head end of the blocking member 93, so that the second controller 5 can control the telescopic movement of the second linear cylinder 92 to push the blocking member 93 to rotate in the horizontal plane around its hinge point with the base 91, so as to extend the blocking rod 94 on the tail end of the blocking member 93 to the front of the material cart 2, or retract the blocking member 93 and the blocking rod 94 to the side of the material cart 2; the second position information indicates the position of the blocking member 93 and the blocking rod 94.

[0164] In this embodiment 1, the second position sensor 95 can be configured in various ways, including but not limited to:

[0165] Method 1:

[0166] The second position sensor 95 is set on the second linear cylinder 92. The stroke of the extension end of the second linear cylinder 92 is detected by the second position sensor 95. Based on the relationship between the stroke of the extension end of the second linear cylinder 92 and the positions of the blocking member 93 and the blocking rod 94, that is, by setting the second position sensor 95 on the second linear cylinder 92, the second position information indicating the position of the blocking member 93 and the blocking rod 94 is obtained.

[0167] Method 2:

[0168] When the second position sensor 95 is a magnetic switch mounted on the base 91, and the blocking rod 94 on the tail end of the blocking member 93 extends to the front of the material cart 2 (e.g.) Figure 5 As shown), the blocking member 93 is in contact with the magnetic switch (i.e., the second position sensor 95);

[0169] When the blocking element 93 and the blocking rod 94 retract to the side of the material cart 2 (e.g.) Figure 6 As shown), the blocking element 93 is separated from the magnetic switch (i.e., the second position sensor 95);

[0170] The second position information, representing the position of the blocking member 93 and the blocking rod 94, can be obtained based on the contact and separation between the blocking member 93 and the magnetic switch.

[0171] In this embodiment 1, the second position sensor 95 is configured in the manner described in the second method above.

[0172] like Figure 1 and Figure 7 As shown, in this embodiment 1, the electrode plate 3 includes an insulating plate 31 fixedly connected to the side of the AGV transport vehicle 1 facing the charging device. The insulating plate 31 is provided with two mounting ports corresponding to the two probe units 64 of the charging device (in this embodiment 1, since the two probe units 64 of the charging device are arranged sequentially in the vertical direction, the two mounting ports on the insulating plate 31 are also arranged sequentially in the vertical direction to correspond to the two probe units 64). An electrode piece 32 is installed in each mounting port, and the two electrode pieces 32 are respectively used to abut against the charging contacts 644 of the corresponding probe unit 64.

[0173] Example 2:

[0174] According to the automatic charging system of AGV transport vehicle 1 provided in Embodiment 1, Embodiment 2 provides an automatic charging method for AGV transport vehicle 1;

[0175] The automatic charging method for the AGV transport vehicle provided in this embodiment 2 includes:

[0176] When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the control console controls the first AGV transport vehicle to travel along the circular path to the charging device, park and charge.

[0177] During the charging process of the charging device for the first AGV transport vehicle, the control console detects in real time whether the preset conditions are met between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind it. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0178] Among them, the first AGV transport vehicle is any one of the AGV transport vehicles 1;

[0179] There are various ways to set the preset conditions, including but not limited to:

[0180] Option 1: The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind the first AGV transport vehicle on the circular path is less than the first preset distance.

[0181] Option 2: The preset condition is that the remaining time for the AGV transport vehicle 1 adjacent to the first AGV transport vehicle to reach the charging device that charges the first AGV transport vehicle is less than the preset time.

[0182] In other words, the preset conditions include: the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind the first AGV transport vehicle on the circular path is less than the first preset distance, or the preset condition is that the remaining time for the adjacent AGV transport vehicle 1 behind the first AGV transport vehicle to travel to the charging device that charges the first AGV transport vehicle is less than the preset time.

[0183] In this embodiment 2, the preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind the first AGV transport vehicle on the circular path is less than the first preset distance.

[0184] The method for controlling the first AGV transport vehicle to travel along a circular path to the charging device via the console includes the following steps:

[0185] S1: The first controller of each AGV transport vehicle 1 sends the third position information to the control console in real time. The control console obtains the position of each AGV transport vehicle 1 on the circular path based on the third position information.

[0186] S2: When the first AGV transport vehicle detects that its own power is lower than the first preset power, the first controller of the first AGV transport vehicle sends a charging request information to the control console;

[0187] S3: The console obtains the location of the first charging device based on the received charging request information and the third location information, and sends navigation information to the first controller of the first AGV transport vehicle based on the location of the first charging device. The first charging device is the nearest charging device to the first AGV transport vehicle on the circular path.

[0188] S4: The first controller of the first AGV transport vehicle controls the first AGV transport vehicle to travel along the circular path to the first charging device based on the received navigation information.

[0189] In this embodiment 2, the method for parking includes:

[0190] After the first AGV transport vehicle travels along the circular path to the charging device, the first controller of the first AGV transport vehicle sends a positioning request information to the control console.

[0191] Based on the received alignment request information, the console sends alignment start information to the second controller 5 of the charging device;

[0192] After receiving the alignment start information, the second controller 5 of the charging device controls the second optical data transmission device 8 of the charging device to send the alignment implementation information to the first optical data transmission device 4 of the first AGV transport vehicle.

[0193] The first optical data transmission device 4 receives alignment implementation information and transmits it to the first controller. The first controller controls the first AGV transport vehicle to complete the alignment with the charging device according to the alignment implementation information.

[0194] After the first AGV transport vehicle completes alignment with the charging device, the first controller sends alignment completion information to the second controller 5 through the first optical data transmission device 4 and the second optical data transmission device 8, thus completing the alignment and parking.

[0195] In this embodiment 2, after the first AGV transport vehicle travels along the circular path to the charging device and stops, the second controller 5 of the charging device controls the extension probe 6 of the charging device to extend.

[0196] The first position sensor on the first linear cylinder 62 of the telescopic probe 6 sends first position information to the second controller 5;

[0197] The second controller 5 determines whether the telescopic probe 6 of the charging device and the electrode plate 3 of the first AGV transport vehicle are in contact based on the received first position information; if so, the second controller 5 controls the relay of the charging device to turn on the charger 7 of the charging device and the telescopic probe 6.

[0198] Charger 7 charges the first AGV transport vehicle.

[0199] In this embodiment 2, there are various specific charging schemes for the charging device to charge the first AGV transport vehicle, including but not limited to:

[0200] Option A:

[0201] If the preset conditions are met, the control console sends a charging stop information to the second controller 5 of the charging device. The second controller 5 controls the charging device to stop charging according to the received charging stop information, and the first AGV transport vehicle moves forward along the circular path. Otherwise, when the first AGV transport vehicle detects that its own power is not less than the second preset power, the first controller of the first AGV transport vehicle sends a charging completion information to the second controller 5 of the charging device through the first optical data transmission device 4 set on the first AGV transport vehicle and the second optical data transmission device 8 set on the charging device. The second controller 5 controls the charging device to stop charging according to the received charging completion information, and the first AGV transport vehicle moves forward along the circular path.

[0202] The second preset power level is greater than the first preset power level, but the second preset power level is not greater than the maximum power level suitable for fast charging of the AGV transport vehicle 1.

[0203] By using the above-mentioned scheme A, it can be ensured that during the charging process of the first AGV transport vehicle, the power of the first AGV transport vehicle will never exceed its maximum power suitable for fast charging. This allows the charging device to maintain the charging process of the first AGV transport vehicle in fast charging mode throughout, thereby avoiding the charging device from entering trickle charging mode when the power of the first AGV transport vehicle exceeds its maximum power suitable for fast charging. This reduces the charge-discharge ratio of the batteries of each AGV transport vehicle 1 running on the circular path. Under the premise of not affecting the normal driving of the AGV transport vehicle 1 adjacent to the first AGV transport vehicle and not disrupting the driving sequence of each AGV transport vehicle 1, the charging efficiency of each AGV transport vehicle 1 running on the circular path is improved.

[0204] Option B:

[0205] If the preset conditions are met, the control console sends a charging stop information to the second controller 5 of the charging device. The second controller 5 controls the charging device to stop charging according to the received charging stop information, and then the first AGV transport vehicle moves forward along the circular path. Otherwise, after the charging time of the charging device for the first AGV transport vehicle reaches the preset charging time, the second controller 5 controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path.

[0206] The preset charging time is the average time it takes for the charging device to charge the AGV transport vehicle 1 from the first preset charge to the third preset charge; the third preset charge is greater than the first preset charge, and the third preset charge is not greater than the maximum charge that the AGV transport vehicle 1 is suitable for fast charging.

[0207] By using the above scheme B, the same technical effect as the above scheme A can be achieved. By keeping the charging process of each AGV transport vehicle 1 in fast charging mode throughout, the charging and discharging ratio of each AGV transport vehicle 1 can be made consistent. By setting the preset charging time to be less than the interval time between two adjacent AGV transport vehicles 1 (that is, the running cycle time of each AGV transport vehicle 1), the interval time between two adjacent AGV transport vehicles 1 (that is, the running cycle time of each AGV transport vehicle 1) can also be kept constant.

[0208] In this embodiment 2, the specific charging scheme for the charging device to charge the first AGV transport vehicle adopts the above-mentioned scheme B.

[0209] In this embodiment 2, the method by which the second controller 5 controls the charging device to stop charging includes the following steps:

[0210] S1: The second controller 5 controls the relay to disconnect the electrical connection between the charger 7 and the telescopic probe 6, and the second controller 5 controls the telescopic probe 6 to retract.

[0211] S2: The first position sensor sends the first position information to the second controller 5;

[0212] S3: The second controller 5 determines whether the telescopic probe 6 of the charging device has retracted to the preset position based on the received first position information; if so, proceed to step S4.

[0213] S4: The second controller 5 sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device 8 installed on the charging device and the first optical data transmission device 4 installed on the first AGV transport vehicle;

[0214] S5: The first controller controls the first AGV transport vehicle to move forward along the circular path based on the received passage information.

[0215] After the second controller 5 of the charging device determines that the telescopic probe 6 of the charging device has retracted to the preset position based on the received first position information, the second controller 5 of the charging device sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device 8 of the charging device and the first optical data transmission device 4 of the first AGV transport vehicle. Before the first AGV transport vehicle leaves the charging device, the second controller 5 of the charging device has confirmed that the telescopic probe 6 of the charging device has retracted to the preset position, ensuring that the first AGV transport vehicle will not collide with the telescopic probe 6 of the charging device when it leaves the charging device.

[0216] In this embodiment 2, during the process of the control console controlling the first AGV transport vehicle to travel along the circular path to the charging device, the control console detects the position information of the first AGV transport vehicle, the charging device, and the AGV transport vehicle 1 adjacent to the first AGV transport vehicle in front of it in real time; if it is determined based on the detected position information that the distance between the first AGV transport vehicle and the charging device is less than the second preset distance, and the AGV transport vehicle adjacent to the first AGV transport vehicle has traveled to the front of the charging device, then the control console sends the blocking information to the second controller 5 of the charging device.

[0217] The second controller 5 controls the blocker 9 of the charging device to extend in front of the material car 2 being transported on the first AGV transport vehicle based on the received blocking information.

[0218] In step S1 of the method described above where the second controller 5 controls the charging device to stop charging, the second controller 5 also controls the stopper 9 to retract.

[0219] In step S2 of the method described above for the second controller 5 to control the charging device to stop charging, the second position sensor 95 on the blocker 9 sends second position information to the second controller 5.

[0220] In step S3 of the method for the second controller 5 to control the charging device to stop charging, the second controller 5 further determines, based on the received second position information, whether the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle; if it is determined that the telescopic probe 6 of the charging device has retracted to the preset position and the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle, then the process proceeds to step S4 of the method for the second controller 5 to control the charging device to stop charging.

[0221] By ensuring that the remaining distance of the first AGV transport vehicle to the charging device is less than the second preset distance, and when the first AGV transport vehicle's adjacent AGV transport vehicle 1 on the circular path has already traveled to the front of the charging device, the blocking device 9 extends to the front of the material car 2 transported on the first AGV transport vehicle. This prevents the blocking device 9 from colliding with the first AGV transport vehicle's adjacent AGV transport vehicle 1 on the circular path, and also ensures that the blocking device 9 can block the material car 2 transported on the first AGV transport vehicle when it travels to the charging device.

[0222] After the second controller 5 of the charging device determines, based on the received first and second position information, that the telescopic probe 6 of the charging device has retracted to the preset position and the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle, the second controller 5 of the charging device sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device 8 of the charging device and the first optical data transmission device 4 of the first AGV transport vehicle. Before the first AGV transport vehicle leaves the charging device, the second controller 5 of the charging device has confirmed that the telescopic probe 6 of the charging device has retracted to the preset position and the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle. This ensures that when the first AGV transport vehicle leaves the charging device, the first AGV transport vehicle will not collide with the telescopic probe 6 of the charging device, and the material cart 2 being transported on the first AGV transport vehicle will not collide with the stopper 9 of the charging device.

[0223] The automatic charging system and charging method for AGV transport vehicles provided by this invention have at least the following technical effects or advantages:

[0224] 1. By placing the charging device on one side of the circular path, the first AGV transport vehicle can stop on the circular path for charging. When the control console detects in real time that the preset conditions are met between the first AGV transport vehicle and the adjacent AGV transport vehicle 1 behind it, the control console controls the charging device to stop charging the first AGV transport vehicle, and then the first AGV transport vehicle moves forward along the circular path. This ensures that the charging process of the first AGV transport vehicle does not affect the normal operation of the adjacent AGV transport vehicle 1 behind it, and that each AGV transport vehicle... The driving sequence of vehicle 1 will not be disrupted, thus ensuring that the order of materials transported by AGV transport vehicle 1 will not be disordered. This solves the technical problem that, in a working environment where multiple AGV transport vehicles 1 travel at intervals along a circular path, the existing matching automatic charging system and charging method would cause AGV transport vehicles 1 traveling on the circular path behind a charging AGV transport vehicle 1 to overtake it, thereby causing disorder in the order of materials transported by each AGV transport vehicle 1, reducing the feeding efficiency of AGV transport vehicles 1, and slowing down the working cycle of each AGV transport vehicle 1.

[0225] 2. In a working environment where multiple AGV transport vehicles 1 travel at intervals along a circular path, the automatic charging system for AGV transport vehicles provided by this invention, compared with the existing supporting automatic charging system, does not require additional branch paths, reducing the initial investment cost of the transport route and saving the overall layout area of ​​the working area.

[0226] 3. By setting a guiding mechanism, the linear reciprocating motion of the first linear cylinder 62 driving the base plate 63 and the two probe units 64 on the base plate 63 along the first horizontal direction can be made more stable.

[0227] 4. The first position sensor sends the first position information representing the position of the first linear cylinder 62 to the second controller 5, so that the second controller 5 can determine the position of the first linear cylinder 62 through the first position information, and then determine whether the probe unit 64 extends to the end away from the first linear cylinder 62 to abut against the electrode plate 3, or retracts to the preset position, so that the extension or retraction of the telescopic probe 6 can be coordinated with the action of the AGV transport vehicle 1, so that the telescopic probe 6 will not collide with the moving AGV transport vehicle 1.

[0228] 5. By enabling the telescopic rod assembly to extend and retract along the first horizontal direction, the telescopic end of the telescopic rod assembly is hinged to one side of the mounting plate 641, allowing the mounting plate 641 to rotate in the horizontal plane around its hinge point with the telescopic rod assembly; and by using the compression spring 643 to keep the mounting plate 641 perpendicular to the first horizontal direction without other external forces; so that after the first AGV transport vehicle completes its alignment and stops, if the electrode plate 3 of the first AGV transport vehicle deflects in the horizontal direction, causing the electrode plate 3 of the first AGV transport vehicle to fail to be perpendicular to the first horizontal direction (this situation usually occurs because the first AGV transport vehicle failed to complete its alignment), If the error is controlled and the vehicle fails to stop accurately in the horizontal direction perpendicular to the first horizontal direction; or if the fixed connection between the electrode plate 3 of the first AGV transport vehicle and the first AGV transport vehicle becomes loose, then the top surface of the charging contact 644 can rotate in the horizontal plane around the hinge point between the mounting plate 641 and the telescopic rod to adapt to the deflection of the electrode plate 3 of the first AGV transport vehicle. At the same time, due to the thrust of the compression spring 643 on the mounting plate 641, the top surface of the charging contact 644 can be tightly attached to the electrode plate 3, ensuring the contact area between the top surface of the charging contact 644 and the electrode plate 3.

[0229] 6. By setting a stopper 9, the stopper 9 is used to extend to the front of the material cart 2 to limit the material cart 2 from sliding forward due to inertia when the AGV transport vehicle 1 is aligned with the charging device; to prevent the material cart 2 from sliding forward due to inertia when the AGV transport vehicle 1 and the charging device are aligned (usually due to the absence of a limiting component between the AGV transport vehicle 1 and the material cart 2, or the failure of the limiting component between the AGV transport vehicle 1 and the material cart 2), causing the rear support leg on the same side as the electrode plate 3 of the AGV transport vehicle 1 to move forward and collide with the telescopic probe 6 extended by the charging device.

[0230] 7. During the charging process of the first AGV transport vehicle, the battery level of the first AGV transport vehicle never exceeds its maximum suitable fast charging capacity. This ensures that the charging device maintains the fast charging mode throughout the charging process of the first AGV transport vehicle, thereby preventing the charging device from entering trickle charging mode due to the battery level of the first AGV transport vehicle exceeding its maximum suitable fast charging capacity. This would reduce the charge-discharge ratio of the batteries of each AGV transport vehicle 1 running on the circular path. Under the premise of not affecting the normal driving of the adjacent AGV transport vehicles 1 behind the first AGV transport vehicle and not disrupting the driving sequence of each AGV transport vehicle 1, the charging efficiency of each AGV transport vehicle 1 running on the circular path is improved.

[0231] 8. By keeping the charging process of each AGV transport vehicle 1 in fast charging mode throughout, the charging and discharging ratio of each AGV transport vehicle 1 can be made consistent. This can be achieved by setting the preset charging time to be less than the interval time between two adjacent AGV transport vehicles 1 (i.e., the running cycle time of each AGV transport vehicle 1), and the interval time between two adjacent AGV transport vehicles 1 (i.e., the running cycle time of each AGV transport vehicle 1) can also be kept constant.

[0232] 9. After the second controller 5 of the charging device determines that the telescopic probe 6 of the charging device has retracted to the preset position based on the received first position information, the second controller 5 of the charging device sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device 8 of the charging device and the first optical data transmission device 4 of the first AGV transport vehicle; before the first AGV transport vehicle leaves the charging device, the second controller 5 of the charging device has confirmed that the telescopic probe 6 of the charging device has retracted to the preset position, ensuring that the first AGV transport vehicle will not collide with the telescopic probe 6 of the charging device when it leaves the charging device.

[0233] 10. When the remaining distance of the first AGV transport vehicle to the charging device is less than the second preset distance, and the AGV transport vehicle 1 adjacent to the first AGV transport vehicle on the circular path has already traveled to the front of the charging device, the blocking device 9 of the charging device extends to the front of the material car 2 transported on the first AGV transport vehicle. This can prevent the blocking device 9 of the charging device from colliding with the AGV transport vehicle 1 adjacent to the first AGV transport vehicle on the circular path, and also ensure that the blocking device 9 of the charging device can block the front of the material car 2 transported on the first AGV transport vehicle when the first AGV transport vehicle travels to the charging device.

[0234] 11. After the second controller 5 of the charging device determines, based on the received first and second position information, that the telescopic probe 6 of the charging device has retracted to the preset position and the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle, the second controller 5 of the charging device sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device 8 of the charging device and the first optical data transmission device 4 of the first AGV transport vehicle. Before the first AGV transport vehicle leaves the charging device, the second controller 5 of the charging device has confirmed that the telescopic probe 6 of the charging device has retracted to the preset position and the stopper 9 has retracted to the side of the material cart 2 being transported on the first AGV transport vehicle. This ensures that when the first AGV transport vehicle leaves the charging device, the first AGV transport vehicle will not collide with the telescopic probe 6 of the charging device, and the material cart 2 being transported on the first AGV transport vehicle will not collide with the stopper 9 of the charging device.

Claims

1. An automatic charging system for an AGV transport vehicle, characterized by: The system includes a control console, a circular path, multiple AGV transport vehicles arranged on the circular path, and at least one charging device arranged on one side of the circular path. Each AGV transport vehicle travels at intervals along the circular path, and each AGV transport vehicle interacts with the control console. The charging device also interacts with the control console. When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the first AGV transport vehicle travels along the circular path to the charging device, stops in position, and then charges. When the charging device is charging the first AGV transport vehicle, the control console detects in real time whether the AGV transport vehicle adjacent to the first AGV transport vehicle meets the preset conditions. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path. The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance.

2. The automatic charging system of the AGV transport vehicle according to claim 1, characterized in that: Multiple charging devices are spaced apart along the circular path and are all located on one side of the circular path. When the first AGV transport vehicle detects that its own power is lower than the first preset power, the first AGV transport vehicle travels along the circular path to the first charging device, stops in position, and charges. The first charging device is the charging device that is closest to the first AGV transport vehicle on the circular path.

3. The automatic charging system of the AGV transport vehicle according to claim 1, characterized in that: The AGV transport vehicle is provided with a first optical data transmission device on the side facing the charging device, and the first optical data transmission device is electrically connected to a first controller provided on the AGV transport vehicle. The charging device is equipped with a second optical data transmission device that matches the first optical data transmission device. The second optical data transmission device is electrically connected to a second controller on the charging device. The first controller controls the first AGV transport vehicle to align with the charging device through the first optical data transmission device and the second optical data transmission device. Both the first controller and the second controller interact with the control console.

4. The automatic charging system of the AGV transport vehicle according to claim 1, characterized in that: The charging device includes a telescopic probe and a charger. The telescopic probe is electrically connected to a second controller installed on the charging device. The telescopic probe is electrically connected to the charger via a relay. The second controller is electrically connected to the relay. The AGV transport vehicle has an electrode plate on the side facing the charging device, and the telescopic probe is positioned corresponding to the electrode plate. The second controller is used to control the relay to turn on or off; the second controller is also used to control the extension of the telescopic probe so that the telescopic probe abuts against the electrode plate.

5. The automatic charging system of the AGV transport vehicle according to claim 4, characterized in that: The telescopic probe includes a fixed base, a first linear cylinder fixedly mounted on the fixed base, a base plate fixedly connected to the telescopic end of the first linear cylinder, two probe units mounted on the base plate, and at least one set of guide mechanisms disposed between the base plate and the fixed base. The first linear cylinder is used to push the base plate and the two probe units to extend along the first horizontal direction, so that the two probe units abut against the electrode plate; The guiding mechanism is used to guide the base plate to reciprocate linearly along the first horizontal direction; The first linear cylinder is equipped with a first position sensor, which is used to send first position information indicating the extension and retraction position of the first linear cylinder to the second controller.

6. The automatic charging system of the AGV transport vehicle according to claim 5, characterized in that: The first linear cylinder is arranged along the first horizontal direction, the base plate is arranged perpendicular to the first horizontal direction, the side of the base plate near the first linear cylinder is fixedly connected to the telescopic end of the first linear cylinder, both probe units are arranged along the first horizontal direction, the end of the probe unit away from the first linear cylinder extends out of the side of the base plate away from the first linear cylinder, and is used to abut against the electrode plate. The probe unit includes a mounting plate, an insulating block, a compression spring, a charging contact, and a telescopic rod assembly; The telescopic rod assembly is capable of telescopic extension and retraction along the first horizontal direction. The end of the telescopic rod assembly near the first linear cylinder is set as a fixed end, and the fixed end of the telescopic rod assembly is fixedly connected to the base plate. The end of the telescopic rod assembly away from the first linear cylinder is designated as the telescopic end. The telescopic end of the telescopic rod assembly is hinged to one side of the mounting plate, allowing the mounting plate to rotate in a horizontal plane about its hinge point with the telescopic rod assembly. The compression spring is sleeved outside the telescopic rod assembly. The first end of the compression spring abuts against the side of the base plate away from the first linear cylinder. The second end of the compression spring is used to push the mounting plate along the first horizontal direction so that the mounting plate remains perpendicular to the first horizontal direction without other external forces. The other side of the mounting plate is fixedly connected to the bottom end of the insulating block, the top end of the insulating block is fixedly connected to the bottom end of the charging contact, the side of the charging contact is used for electrical connection with the charger, and the top surface of the charging contact is used for abutting against the electrode plate; the top surface of the charging contact is parallel to the mounting plate.

7. The automatic charging system of the AGV transport vehicle according to claim 4, characterized in that: Each of the aforementioned AGV transport vehicles is equipped with a material cart; The charging device also includes a stopper disposed on one side of the circular path, the stopper extending in front of the material cart to restrict the forward sliding of the material cart when the AGV transport vehicle is aligned with the charging device.

8. The automatic charging system for the AGV transport vehicle according to claim 7, characterized in that: The blocker includes a base fixed to one side of the annular path and a second linear cylinder and a blocking component mounted on the base; The fixed end of the second linear cylinder is hinged to the base, and the middle part of the blocking member is hinged to the base, so that both the second linear cylinder and the blocking member can rotate in a horizontal plane about the hinge point between them and the base. The second controller is also used for the extension and retraction of the second linear cylinder; The extension and retraction end of the second linear cylinder is hinged to the first end of the blocking member, so that the second controller can push the blocking member to rotate in a horizontal plane about its hinge point with the base by controlling the extension and retraction of the second linear cylinder, so as to extend the tail end of the blocking member to the front of the material cart. The blocker is equipped with a second position sensor, which is used to send second position information indicating the position of the blocker to the second controller.

9. An automatic charging method for an AGV transport vehicle, characterized in that, include: When the first AGV transport vehicle detects that its own battery level is lower than the first preset battery level, the control console controls the first AGV transport vehicle to travel along the circular path to the charging device, park and charge. During the charging process of the charging device for the first AGV transport vehicle, the control console detects in real time whether the preset conditions are met between the first AGV transport vehicle and the adjacent AGV transport vehicle behind it. If so, the control console controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path. The preset condition is that the distance between the first AGV transport vehicle and the adjacent AGV transport vehicle on the circular path is less than a first preset distance.

10. The automatic charging method for the AGV transport vehicle according to claim 9, characterized in that: The method for controlling the first AGV transport vehicle to travel along the circular path to the charging device via the control console includes the following steps: S1: The first controller of each AGV transport vehicle sends third position information to the control console in real time, and the control console obtains the position of each AGV transport vehicle on the circular path based on the third position information; S2: When the first AGV transport vehicle detects that its own power is lower than the first preset power, the first controller of the first AGV transport vehicle sends a charging request information to the control console; S3: The console obtains the position of the first charging device based on the received charging request information and the third position information, and sends navigation information to the first controller of the first AGV transport vehicle based on the position of the first charging device. The first charging device is the charging device that is closest to the first AGV transport vehicle on the circular path. S4: The first controller of the first AGV transport vehicle controls the first AGV transport vehicle to travel along the circular path to the first charging device according to the received navigation information.

11. The automatic charging method for the AGV transport vehicle according to claim 9, characterized in that: The method for parking in alignment includes: After the first AGV transport vehicle travels along the circular path to the charging device, the first controller of the first AGV transport vehicle sends a positioning request information to the control console. The console sends alignment start information to the second controller of the charging device based on the received alignment request information; After receiving the alignment start information, the second controller of the charging device controls the second optical data transmission device of the charging device to send the alignment implementation information to the first optical data transmission device of the first AGV transport vehicle. The first optical data transmission device receives the alignment implementation information and transmits it to the first controller. The first controller controls the first AGV transport vehicle to complete the alignment with the charging device according to the alignment implementation information. After the first AGV transport vehicle completes alignment with the charging device, the first controller sends alignment completion information to the second controller through the first optical data transmission device and the second optical data transmission device, thus completing the alignment and parking.

12. The automatic charging method for the AGV transport vehicle according to claim 9, characterized in that: After the first AGV transport vehicle travels along the circular path to the charging device and stops in position, the second controller of the charging device controls the extension probe of the charging device to extend. The first position sensor on the first linear cylinder of the telescopic probe sends first position information to the second controller; The second controller determines whether the telescopic probe of the charging device is in contact with the electrode plate of the first AGV transport vehicle based on the received first position information; if so, the second controller controls the relay of the charging device to connect the charger of the charging device and the telescopic probe. The charger charges the first AGV transport vehicle.

13. The automatic charging method for the AGV transport vehicle according to claim 12, characterized in that: If the preset conditions are met, the control console sends a charging stop information to the second controller of the charging device. After the second controller controls the charging device to stop charging according to the received charging stop information, the first AGV transport vehicle moves forward along the circular path. Otherwise, when the first AGV transport vehicle detects that its own power is not less than the second preset power, the first controller of the first AGV transport vehicle sends a charging completion information to the second controller of the charging device through the first optical data transmission device installed on the first AGV transport vehicle and the second optical data transmission device installed on the charging device. After the second controller controls the charging device to stop charging according to the received charging completion information, the first AGV transport vehicle moves forward along the circular path. The second preset power level is greater than the first preset power level, and the second preset power level is not greater than the maximum power level suitable for fast charging of the AGV transport vehicle.

14. The automatic charging method for the AGV transport vehicle according to claim 12, characterized in that: If the preset conditions are met, the console sends a charging stop information to the second controller of the charging device. After the second controller controls the charging device to stop charging according to the received charging stop information, the first AGV transport vehicle moves forward along the circular path. Otherwise, after the charging time of the charging device for the first AGV transport vehicle reaches the preset charging time, the second controller controls the charging device to stop charging, and the first AGV transport vehicle moves forward along the circular path. The preset charging time is the average time it takes for the charging device to charge the AGV transport vehicle from the first preset charge to the third preset charge. The third preset power level is greater than the first preset power level, and the third preset power level is not greater than the maximum power level suitable for fast charging of the AGV transport vehicle.

15. The automatic charging method for the AGV transport vehicle according to any one of claims 13-14, characterized in that: The method by which the second controller controls the charging device to stop charging includes the following steps: S1: The second controller controls the relay to disconnect the electrical connection between the charger and the telescopic probe, and the second controller controls the telescopic probe to retract; S2: The first position sensor sends the first position information to the second controller; S3: The second controller determines whether the telescopic probe of the charging device has retracted to a preset position based on the received first position information; if so, proceed to step S4. S4: The second controller sends passage information to the first controller of the first AGV transport vehicle through the second optical data transmission device installed on the charging device and the first optical data transmission device installed on the first AGV transport vehicle; S5: The first controller controls the first AGV transport vehicle to move forward along the circular path according to the received passage information.

16. The automatic charging method for the AGV transport vehicle according to claim 15, characterized in that: During the process of the control console controlling the first AGV transport vehicle to travel along the circular path to the charging device, the control console detects the position information of the first AGV transport vehicle, the charging device, and the AGV transport vehicle adjacent to the first AGV transport vehicle in front of it in real time; if it is determined based on the detected position information that the distance between the first AGV transport vehicle and the charging device is less than a second preset distance, and the AGV transport vehicle adjacent to the first AGV transport vehicle in front of it has already traveled to the front of the charging device, then the control console sends obstruction information to the second controller of the charging device; The second controller, based on the received obstruction information, controls the obstructor of the charging device to extend in front of the material cart being transported on the first AGV transport vehicle; In step S1, the second controller also controls the blocker to retract; In step S2, the second position sensor on the blocker sends second position information to the second controller; In step S3, the second controller further determines, based on the received second position information, whether the blocker has retracted to the side of the material cart being transported on the first AGV transport vehicle; if it is determined that the telescopic probe of the charging device has retracted to the preset position and the blocker has retracted to the side of the material cart being transported on the first AGV transport vehicle, then proceed to step S4.

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